Service ESC message

I have a 2010 Malibu and it has electric power steering.

When I start my car I get multiple messages on the dash "Service ESC", "ESC Off", "ABS Off", Traction Control Off" and the lights for ABS and Traction Control turn on. I've had this for a few months now and recently it's been saying "Power Steering" for a few seconds while turning occasionally I have felt no changes in the steering though. I tried getting it fixed at a Pep Boys because the warning happened before when I had a bad wheel bearing but they said they couldn't find anything wrong with it. My wheel is slightly misaligned to the left I'm not sure if that could be the cause but I wanted to ask here to see what you all think, thanks.